{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T11:53:59Z","timestamp":1777550039270,"version":"3.51.4"},"reference-count":34,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2019,9,11]],"date-time":"2019-09-11T00:00:00Z","timestamp":1568160000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Algorithms"],"abstract":"<jats:p>The development of robotic applications for agricultural environments has several problems which are not present in the robotic systems used for indoor environments. Some of these problems can be solved with an efficient navigation system. In this paper, a new system is introduced to improve the navigation tasks for those robots which operate in agricultural environments. Concretely, the paper focuses on the problem related to the autonomous mapping of agricultural parcels (i.e., an orange grove). The map created by the system will be used to help the robots navigate into the parcel to perform maintenance tasks such as weed removal, harvest, or pest inspection. The proposed system connects to a satellite positioning service to obtain the real coordinates where the robotic system is placed. With these coordinates, the parcel information is downloaded from an online map service in order to autonomously obtain a map of the parcel in a readable format for the robot. Finally, path planning is performed by means of Fast Marching techniques using the robot or a team of two robots. This paper introduces the proof-of-concept and describes all the necessary steps and algorithms to obtain the path planning just from the initial coordinates of the robot.<\/jats:p>","DOI":"10.3390\/a12090193","type":"journal-article","created":{"date-parts":[[2019,9,11]],"date-time":"2019-09-11T11:26:34Z","timestamp":1568201194000},"page":"193","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Combining Satellite Images and Cadastral Information for Outdoor Autonomous Mapping and Navigation: A Proof-of-Concept Study in Citric Groves"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4338-4334","authenticated-orcid":false,"given":"Joaqu\u00edn","family":"Torres-Sospedra","sequence":"first","affiliation":[{"name":"Institute of New Imaging Technologes, Universitat Jaume I, 12071 Castell\u00f3n, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Patricio","family":"Nebot","sequence":"additional","affiliation":[{"name":"Institute of New Imaging Technologes, Universitat Jaume I, 12071 Castell\u00f3n, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,9,11]]},"reference":[{"key":"ref_1","first-page":"5","article-title":"Citrus grove mapping with colored infrared aerial photography","volume":"91","author":"Blazquez","year":"1979","journal-title":"Proc. Fla. State Hortic. Soc."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1111\/j.1365-3180.2010.00829.x","article-title":"Weed detection for site-specific weed management: Mapping and real-time approaches","volume":"51","year":"2011","journal-title":"Weed Res."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1016\/j.isprsjprs.2010.09.008","article-title":"Land cover classification of VHR airborne images for citrus grove identification","volume":"66","year":"2011","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_4","first-page":"545","article-title":"Fresh-market quality tree fruit harvester. Part II: Apples","volume":"19","author":"Peterson","year":"2003","journal-title":"Appl. Eng. Agric."},{"key":"ref_5","unstructured":"Arima, S., Kondo, N., and Monta, M. (2004). Strawberry Harvesting Robot on Table-Top Culture, American Society of Association Executives (ASAE). Technical Report."},{"key":"ref_6","unstructured":"Hannan, M., and Burks, T. (2004). Current Developments in Automated Citrus Harvesting, American Society of Association Executives (ASAE). Technical Report."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1002\/rob.20131","article-title":"Agricultural Robot Radicchio Harvesting","volume":"23","author":"Foglia","year":"2006","journal-title":"J. Field Robot."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1006\/bioe.2002.0109","article-title":"Robotic weed control using machine vision","volume":"83","author":"Blasco","year":"2002","journal-title":"Biosyst. Eng."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1016\/j.biosystemseng.2003.10.009","article-title":"Agricultural robotic platform with four wheel steering for weed detection","volume":"87","author":"Bak","year":"2004","journal-title":"Biosyst. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"218","DOI":"10.3733\/ca.v058n04p218","article-title":"Weeds accurately mapped using DGPS and ground-based vision identification","volume":"58","author":"Downey","year":"2004","journal-title":"Calif. Agric."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"7355","DOI":"10.13031\/2013.17721","article-title":"Herbicide micro-dosing for weed control in field grown processing tomatoes","volume":"20","author":"Giles","year":"2004","journal-title":"Appl. Eng. Agric."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"174","DOI":"10.1016\/j.biosystemseng.2010.11.010","article-title":"Development of a low-cost agricultural remote sensing system based on an autonomous unmanned aerial vehicle (UAV)","volume":"108","author":"Xiang","year":"2011","journal-title":"Biosyst. Eng."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"258","DOI":"10.1016\/j.rse.2012.03.013","article-title":"Tree species classification in the Southern Alps based on the fusion of very high geometrical resolution multispectral\/hyperspectral images and LiDAR data","volume":"123","author":"Dalponte","year":"2012","journal-title":"Remote Sens. Environ."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1023\/A:1015634322857","article-title":"A System for Semi-Autonomous Tractor Operations","volume":"13","author":"Stentz","year":"2002","journal-title":"Auton. Robot."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1411","DOI":"10.13031\/2013.29121","article-title":"Sensor fusion using fuzzy logic enhanced kalman filter for autonomous vehicle guidance in citrus groves","volume":"52","author":"Subramanian","year":"2009","journal-title":"Trans. ASABE"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"733210","DOI":"10.1117\/12.819099","article-title":"Stereo-vision-based terrain mapping for off-road autonomous navigation","volume":"7332","author":"Rankin","year":"2009","journal-title":"Proc. SPIE"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1016\/j.biosystemseng.2011.05.001","article-title":"Autonomous navigation using a robot platform in a sugar beet field","volume":"109","author":"Bakker","year":"2011","journal-title":"Biosyst. Eng."},{"key":"ref_18","unstructured":"Velagic, J., Osmic, N., Hodzic, F., and Siljak, H. (2011, January 14\u201316). Outdoor navigation of a mobile robot using GPS and GPRS communication system. Proceedings of the ELMAR-2011, Zadar, Croatia."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"278","DOI":"10.1016\/j.robot.2011.11.007","article-title":"Global-referenced navigation grids for off-road vehicles and environments","volume":"60","year":"2012","journal-title":"Robot. Auton. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1016\/j.compag.2012.02.009","article-title":"Variable field-of-view machine vision based row guidance of an agricultural robot","volume":"84","author":"Xue","year":"2012","journal-title":"Comput. Electron. Agric."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"4086","DOI":"10.3390\/s110404086","article-title":"A New Approach to Visual-Based Sensory System for Navigation into Orange Groves","volume":"11","author":"Nebot","year":"2011","journal-title":"Sensors"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1016\/j.biosystemseng.2014.05.005","article-title":"Two-stage procedure based on smoothed ensembles of neural networks applied to weed detection in orange groves","volume":"123","author":"Nebot","year":"2014","journal-title":"Biosyst. Eng."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"4385","DOI":"10.3390\/s110404385","article-title":"A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments","volume":"11","author":"Nebot","year":"2011","journal-title":"Sensors"},{"key":"ref_24","unstructured":"Hough, P. (1962). Method and Means for Recognizing Complex Patterns. (US3069654A), U.S. Patent."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"999","DOI":"10.1243\/095440705X34667","article-title":"Hough-transform-based vision algorithm for crop row detection of an automated agricultural vehicle","volume":"219","author":"Zhang","year":"2005","journal-title":"Proc. Inst. Mech. Eng. Part D J. Automob. Eng."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Wu, G., Tan, Y., Zheng, Y., and Wang, S. (2011, January 17\u201318). Walking Goal Line Detection Based on Machine Vision on Harvesting Robot. Proceedings of the 2011 Third Pacific-Asia Conference on Circuits, Communications and System (PACCS), Wuhan, China.","DOI":"10.1109\/PACCS.2011.5990262"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"284","DOI":"10.1016\/j.compag.2011.02.007","article-title":"A feature extraction software tool for agricultural object-based image analysis","volume":"76","author":"Ruiz","year":"2011","journal-title":"Comput. Electron. Agric."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"3467","DOI":"10.1080\/01431161.2012.716918","article-title":"Automatic detection of field furrows from very high resolution optical imagery","volume":"34","author":"Ottle","year":"2013","journal-title":"Int. J. Remote Sens."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"2387","DOI":"10.1016\/S0165-1684(03)00191-9","article-title":"Consideration of obstacle danger level in path planning using A* and Fast-Marching optimisation: Comparative study","volume":"83","author":"Melchior","year":"2003","journal-title":"Signal Process."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Garrido, S., Moreno, L., Abderrahim, M., and Martin, F. (2006, January 9\u201315). Path Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marching. Proceedings of the 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, China.","DOI":"10.1109\/IROS.2006.282649"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"675","DOI":"10.1016\/j.robot.2011.05.011","article-title":"Robot formation motion planning using Fast Marching","volume":"59","author":"Garrido","year":"2011","journal-title":"Robot. Auton. Syst."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"106","DOI":"10.1016\/j.robot.2012.10.012","article-title":"Application of the fast marching method for outdoor motion planning in robotics","volume":"61","author":"Garrido","year":"2013","journal-title":"Robot. Auton. Syst."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1579","DOI":"10.1016\/j.robot.2012.09.011","article-title":"Real-time navigation using randomized kinodynamic planning with arrival time field","volume":"60","author":"Ardiyanto","year":"2012","journal-title":"Robot. Auton. Syst."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1563","DOI":"10.1109\/TPAMI.2007.1154","article-title":"MultiStencils Fast Marching Methods: A Highly Accurate Solution to the Eikonal Equation on Cartesian Domains","volume":"29","author":"Hassouna","year":"2007","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."}],"container-title":["Algorithms"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1999-4893\/12\/9\/193\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T13:18:47Z","timestamp":1760188727000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1999-4893\/12\/9\/193"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,9,11]]},"references-count":34,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2019,9]]}},"alternative-id":["a12090193"],"URL":"https:\/\/doi.org\/10.3390\/a12090193","relation":{},"ISSN":["1999-4893"],"issn-type":[{"value":"1999-4893","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,9,11]]}}}